World objects tracking and prediction by an autonomous vehicle is disclosed. A method includes receiving, from sensors of the AV, a first observation data; associating the first observation data with a first world object; determining hypotheses for the first world object, wherein a hypothesis corresponds to an intention of the first world object; determining a respective hypothesis likelihood of each of the hypotheses indicating a likelihood that the first world object follows the intention; determining, for at least one hypothesis of the hypotheses, a respective state, wherein the respective state comprises predicted positions of the first world object; and in response to a query, providing a hypothesis of the hypotheses based on the respective hypothesis likelihood of each of the hypotheses.
Probabilistic Object Tracking and Prediction Framework
2021-03-25
Patent
Electronic Resource
English
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / H04L TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION , Übertragung digitaler Information, z.B. Telegrafieverkehr |
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